Camera tracking apparatus and method using reconstruction segments and volumetric surface

摘要

Provided are an apparatus and method for tracking a camera that reconstructs a real environment in three dimensions by using reconstruction segments and a volumetric surface. The camera tracking apparatus using reconstruction segments and a volumetric surface includes a reconstruction segment division unit configured to divide three-dimensional space reconstruction segments extracted from an image acquired by a camera, a transformation matrix generation unit configured to generate a transformation matrix for at least one reconstruction segment among the reconstruction segments obtained by the reconstruction segment division unit, and a reconstruction segment connection unit configured to rotate or move the at least one reconstruction segment according to the transformation matrix generated by the reconstruction segment division unit and connect the rotated and moved reconstruction segment with another reconstruction segment.

主权项

1. A camera tracking apparatus comprising:
a reconstruction segment generation unit to generate, using a processor, three-dimensional space reconstruction segments for a reconstruction process from an image including depth information obtained by a camera, the reconstruction segments including first and second reconstruction segments; a transformation matrix generation unit to generate, using a processor, a transformation matrix for the first reconstruction segment having a distortion among the generated reconstruction segments during the reconstruction process; and a reconstruction segment connection unit to rotate or move, or rotate and move, using a processor, the first reconstruction segment according to the transformation matrix, and to connect the rotated or moved, or the rotated and moved first reconstruction segment with the second reconstruction segment having substantially no distortion, wherein the reconstruction segment generation unit generates a corresponding one of the reconstruction segments based on a timing when a movement factor of the camera is greater than a preset value.